| --- |
| license: apache-2.0 |
| --- |
| |
| nyu center for robotics & embodied intelligence\ |
| lab for autonomous and intelligent robotics\ |
| project: embodied at sea (behavioral cloning for marine archaeology & conservation)\ |
| robot: blue robotics's "bluerov2"\ |
| contributors: Dr. Chris Clark (PI), Greta Perez-Haiek (Lead), Luca Macesanu, Kevin Angers, Timothy Gambin (Advisor)\ |
| environment: rectangular swimming pool at NYU CREO, filled with chlorinated water at about a little over a foot's depth of water. \ |
| factors: neutral background (shades of blue hexagons with white rimming), neutral lighting (well-lit and constant), disturbances & distractors (variable) |
| Snapshot date: August 18, 2026 |
|
|
| This folder contains 8 LeRobot-format (codebase_version v3.0) datasets recorded |
| on a BlueROV2 performing rod-grabbing tasks in a pool, with and without |
| simulated currents. Each dataset is packaged as a `.zip` containing the |
| standard LeRobot layout (`data/`, `meta/`, `videos/`). |
| |
| Counts below are taken from each dataset's `meta/info.json`. |
| |
| - **Episodes** = `total_episodes` (number of recorded episode/trajectory runs) |
| - **Frames** = `total_frames` (total timesteps across all episodes, fps = 50.0) |
| - **Trajectories** = `total_successes` (episodes that ended in a successful grab) |
|
|
| | Dataset | Episodes | Frames | Trajectories (successes) | |
| |---|---|---|---| |
| | grab green rod | 101 | 26,774 | 101 | |
| | grab green rod under currents | 110 | 37,982 | 101 | |
| | grab red rod | 101 | 23,550 | 101 | |
| | grab red rod under currents | 102 | 30,171 | 101 | |
| | grab white rod | 102 | 26,853 | 100 | |
| | grab white rod under currents | 101 | 27,934 | 101 | |
| | grab yellow rod | 101 | 22,628 | 101 | |
| | grab yellow rod under currents | 102 | 28,220 | 101 | |
|
|
| ## Notes |
|
|
| - "Episodes" counts every recorded run, including any that did not end in a |
| successful grasp; "Trajectories" (`total_successes`) counts only the |
| successful ones. In most of these datasets nearly all episodes succeeded |
| (only "grab white rod" has 2 non-successful episodes: 102 episodes vs 100 |
| successes). |
| - Frame count varies with episode length/duration, not just episode count — |
| e.g. "grab green rod under currents" has the most episodes (110) and by far |
| the most frames (37,982), consistent with currents making the task take |
| longer per episode. |
| - `robot_type`: bluerov2, single task per dataset (`total_tasks` = 1). |
|
|
